version: 66.04
glider: 113
mission: 4
dive: 227
start: 10 25 108 19 25 23
data:
$ID,113
$MISSION,4
$DIVE,227
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,470
$T_MISSION,500
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,900
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.02765
$MASS,51576
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.00342
$HD_B,0.0096000005
$HD_C,3.1312e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,21
$TGT_DEFAULT_LON,-158.3
$TGT_AUTO_DEFAULT,0
$SM_CC,275
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-26185.424
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,171
$PITCH_MAX,4022
$C_PITCH,2436
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14.7
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,280
$ROLL_MAX,3944
$ROLL_DEG,40
$C_ROLL_DIVE,2340
$C_ROLL_CLIMB,2520
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,144
$VBD_MAX,3700
$C_VBD,2420
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.00135
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-25.705193
$PRESSURE_SLOPE,0.0001160825
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004371644
$SEABIRD_T_H,0.00064727472
$SEABIRD_T_I,2.6231954e-05
$SEABIRD_T_J,2.8174416e-06
$SEABIRD_C_G,-9.9426794
$SEABIRD_C_H,1.1390046
$SEABIRD_C_I,-0.00057758979
$SEABIRD_C_J,0.00012778315
$GPS1,191858,6642.078,-6007.942,37,2.9,56,-38.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-58.7
$GPS2,192429,6642.049,-6007.815,12,2.7,31,-38.0
$SPEED_LIMITS,0.122,0.224
$TGT_NAME,TARGET_ADD1_EB
$TGT_LATLONG,6647.000,-5956.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.141,0.174
$KALMAN_X,18568.0,-264.2,84.7,-136953.4,256.0
$KALMAN_Y,-34075.3,1322.7,-1540.2,10537.1,-115.1
$MHEAD_RNG_PITCHd_Wd,77.0,12589,-12.9,-7.021
$D_GRID,578
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.08,-146.0,0.0,0.0,0,154,0.00,0.00,-135.62,0.000,2,0.000,0.000,164,2335,2871
$GC,157,-1.08,-146.0,3.8,-4.1,24,177,9.00,2.45,-4.55,0.000,4,0.273,0.084,2201,3754,3019
$GC,413,-0.77,-146.0,52.9,-14.4,69,419,0.22,2.22,0.00,0.000,6,0.170,0.044,2264,2340,3022
$GC,757,-0.68,-146.0,87.6,-10.0,130,764,0.10,2.25,0.00,0.000,4,0.183,0.058,2291,929,3023
$GC,809,-0.62,-146.0,92.6,-9.5,139,815,0.00,2.28,0.00,0.000,6,0.000,0.054,2291,2348,3023
$GC,1148,-0.62,-146.0,120.1,-7.6,167,1152,0.00,2.28,0.00,0.000,4,0.000,0.059,2291,932,3023
$GC,1225,-0.62,-146.0,126.3,-8.5,170,1229,0.00,2.28,0.00,0.000,6,0.000,0.054,2291,2352,3023
$GC,1547,-0.67,-146.0,149.1,-7.0,186,1550,0.00,2.30,0.00,0.000,4,0.000,0.071,2291,3757,3023
$GC,1580,-0.77,-146.0,151.6,-7.5,187,1585,0.10,2.22,0.00,0.000,6,0.109,0.044,2257,2330,3023
$GC,1900,-0.77,-146.0,179.0,-8.4,203,1901,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2330,3023
$GC,2209,-0.77,-146.0,204.5,-7.8,218,2210,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2330,3023
$GC,2519,-0.77,-146.0,225.4,-6.2,233,2520,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2330,3022
$GC,2828,-0.77,-146.0,245.3,-6.5,248,2832,0.00,2.22,0.00,0.000,4,0.000,0.061,2257,931,3022
$GC,2878,-0.71,-146.0,249.0,-7.4,250,2882,0.10,2.28,0.00,0.000,6,0.184,0.055,2281,2355,3022
$GC,3205,-0.81,-146.0,270.3,-6.9,266,3209,0.00,2.28,0.00,0.000,4,0.000,0.071,2281,3750,3021
$GC,3299,-0.95,-146.0,276.5,-6.3,270,3305,0.17,2.20,0.00,0.000,6,0.091,0.045,2219,2342,3021
$GC,3626,-0.85,-146.0,302.4,-8.0,286,3631,0.12,2.25,0.00,0.000,4,0.163,0.058,2253,932,3021
$GC,3720,-0.85,-146.0,309.6,-7.6,290,3724,0.00,2.28,0.00,0.000,6,0.000,0.054,2253,2352,3021
$GC,4042,-0.85,-146.0,331.3,-7.0,306,4043,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2352,3021
$GC,4350,-0.85,-146.0,354.3,-7.4,321,4354,0.00,2.30,0.00,0.000,4,0.000,0.071,2253,3754,3021
$GC,4406,-0.93,-146.0,358.7,-7.7,323,4410,0.00,2.22,0.00,0.000,6,0.000,0.044,2253,2326,3021
$GC,4731,-0.93,-146.0,380.8,-6.5,339,4734,0.00,2.22,0.00,0.000,4,0.000,0.059,2253,927,3021
$GC,4775,-0.93,-146.0,384.3,-7.1,341,4779,0.00,2.28,0.00,0.000,6,0.000,0.054,2253,2348,3021
$GC,5123,-0.98,-146.0,405.9,-6.1,356,5127,0.12,2.28,0.00,0.000,4,0.103,0.069,2208,3744,3021
$GC,5184,-0.90,-146.0,410.6,-7.8,357,5188,0.12,2.20,0.00,0.000,6,0.166,0.043,2240,2330,3021
$GC,5525,-0.90,-146.0,433.3,-6.7,366,5529,0.00,2.20,0.00,0.000,4,0.000,0.058,2240,939,3021
$GC,5575,-0.90,-146.0,436.9,-7.0,367,5579,0.00,2.25,0.00,0.000,6,0.000,0.054,2240,2352,3022
$GC,5900,-0.90,-146.0,458.4,-6.6,375,5904,0.00,2.28,0.00,0.000,4,0.000,0.070,2240,3744,3022
$GC,5977,-0.97,-146.0,464.2,-7.5,376,5981,0.00,2.20,0.00,0.000,6,0.000,0.042,2240,2327,3022
$GC,6314,-0.97,-146.0,487.5,-6.8,385,6318,0.00,2.35,0.00,0.000,4,0.000,0.070,2240,3746,3022
$GC,6348,-1.02,-146.0,489.9,-6.9,385,6352,0.12,2.20,0.00,0.000,6,0.097,0.042,2197,2330,3022
$GC,6679,-0.91,-146.0,516.5,-8.0,393,6681,0.15,0.00,0.00,0.000,6,0.161,0.000,2238,2330,3022
$GC,7004,-0.91,-146.0,537.9,-6.6,401,7007,0.00,2.35,0.00,0.000,4,0.000,0.069,2238,3746,3023
$GC,7037,-0.97,-146.0,540.1,-7.0,401,7041,0.00,2.17,0.00,0.000,6,0.000,0.042,2238,2340,3023
$GC,7373,-0.97,-146.0,562.3,-6.6,410,7374,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2339,3023
$STATE,7655,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7655,begin apogee
$GC,7661,-0.34,0.0,580.2,6.2,417,7795,0.40,0.00,131.68,1.266,6,0.144,0.000,2362,2523,2420
$STATE,7796,end apogee,CONTROL_FINISHED_OK
$STATE,7796,begin climb
$GC,7799,1.08,146.0,583.3,0.0,420,7950,1.05,2.62,136.95,1.165,4,0.112,0.052,2668,1122,1823
$GC,7979,0.98,146.0,571.9,7.9,424,7983,0.00,2.53,0.00,0.000,6,0.000,0.051,2668,2532,1822
$GC,8293,0.86,146.0,545.5,8.6,432,8298,0.17,2.38,0.00,0.000,4,0.145,0.067,2620,3929,1820
$GC,8337,0.81,146.0,541.9,7.8,433,8340,0.00,2.28,0.00,0.000,6,0.000,0.041,2620,2516,1820
$GC,8661,0.81,151.3,519.7,6.8,441,8668,0.00,0.00,5.55,0.929,6,0.000,0.000,2620,2516,1802
$GC,8986,0.83,163.9,498.0,6.6,449,9005,0.00,2.33,12.23,1.126,4,0.000,0.055,2620,1109,1751
$GC,9022,0.99,214.2,495.7,5.3,449,9071,0.12,2.30,43.15,1.187,6,0.084,0.050,2669,2539,1546
$GC,9395,0.93,214.2,463.5,8.7,459,9399,0.12,2.33,0.00,0.000,4,0.131,0.054,2635,1114,1542
$GC,9416,0.93,214.2,461.9,7.4,459,9420,0.00,2.28,0.00,0.000,6,0.000,0.050,2635,2529,1542
$GC,9758,1.00,214.2,437.5,7.2,468,9762,0.00,2.28,0.00,0.000,4,0.000,0.055,2635,1111,1542
$GC,9779,1.10,216.4,435.9,6.9,468,9784,0.15,2.25,0.00,0.000,6,0.079,0.050,2693,2527,1542
$GC,10127,0.99,216.4,402.6,9.5,477,10129,0.15,0.00,0.00,0.000,6,0.133,0.000,2650,2528,1542
$GC,10435,1.01,232.0,381.4,6.5,491,10457,0.00,2.30,15.45,1.114,4,0.000,0.054,2650,1109,1474
$GC,10485,1.12,241.5,378.3,6.7,493,10503,0.12,2.28,9.55,1.024,6,0.085,0.051,2698,2525,1435
$GC,10811,1.01,241.5,348.9,9.2,509,10816,0.15,2.28,0.00,0.000,4,0.139,0.054,2655,1111,1433
$GC,10832,1.01,241.5,347.1,7.9,510,10836,0.00,2.25,0.00,0.000,6,0.000,0.050,2655,2526,1433
$GC,11159,1.07,241.5,322.3,7.9,526,11161,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2526,1433
$GC,11468,1.07,241.5,297.7,7.9,541,11472,0.00,2.25,0.00,0.000,4,0.000,0.054,2655,1108,1433
$GC,11535,1.17,241.5,292.5,7.8,544,11540,0.12,2.25,0.00,0.000,6,0.083,0.051,2705,2531,1433
$GC,11862,1.07,241.5,261.3,9.3,560,11867,0.15,2.28,0.00,0.000,4,0.133,0.055,2661,1111,1433
$GC,11895,1.17,242.5,258.7,7.0,561,11901,0.10,2.22,0.00,0.000,6,0.091,0.051,2704,2518,1433
$GC,12210,1.10,242.5,231.3,8.8,577,12214,0.12,2.28,0.00,0.000,4,0.136,0.066,2667,3926,1433
$GC,12249,1.10,242.5,228.1,8.1,579,12253,0.00,2.17,0.00,0.000,6,0.000,0.042,2667,2516,1434
$GC,12581,1.10,242.5,203.8,7.2,595,12582,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2516,1433
$GC,12891,1.16,242.5,180.0,7.9,610,12895,0.08,2.22,0.00,0.000,4,0.100,0.056,2705,1109,1433
$GC,12962,1.16,242.5,173.5,8.8,613,12966,0.00,2.28,0.00,0.000,6,0.000,0.051,2705,2525,1433
$GC,13289,1.16,242.5,143.9,8.9,629,13290,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2525,1433
$GC,13599,1.16,242.5,119.9,7.7,644,13602,0.00,2.30,0.00,0.000,4,0.000,0.071,2705,3941,1433
$GC,13637,1.04,242.5,116.3,8.6,645,13644,0.17,2.20,0.00,0.000,6,0.140,0.044,2654,2518,1432
$GC,13955,1.35,265.0,98.1,6.3,664,13985,0.20,2.30,20.62,1.045,4,0.076,0.058,2735,1118,1338
$GC,14077,1.30,265.0,88.6,8.2,685,14084,0.00,2.28,0.00,0.000,6,0.000,0.052,2735,2531,1336
$GC,14421,1.25,265.0,58.3,8.7,746,14428,0.12,2.30,0.00,0.000,4,0.136,0.071,2696,3927,1336
$GC,14456,1.25,265.0,55.5,7.8,752,14463,0.00,2.20,0.00,0.000,6,0.000,0.043,2697,2515,1335
$GC,14800,1.44,310.9,33.9,5.5,813,14847,0.17,2.35,38.35,1.023,4,0.074,0.060,2770,1120,1151
$GC,14870,1.44,310.9,28.6,8.0,825,14877,0.10,2.30,0.00,0.000,6,0.147,0.053,2747,2520,1149
$GC,15214,1.48,345.8,3.1,5.8,886,15233,0.00,0.00,16.77,0.967,2,0.000,0.000,2747,2520,1071
$STATE,15233,end climb,SURFACE_DEPTH_REACHED
$STATE,15233,begin surface coast
$FINISH,0.8,1.017011
$STATE,15261,end surface coast,CONTROL_FINISHED_OK
$STATE,15261,begin surface
$SM_CCo,15338,0.00,0.000,0,0,1065,332.38
$SM_GC,1.60,7.30,0.00,0.00,0.071,0.000,0.000,163,2340,1065,-10.39,-0.03,332.38
$RAFOS_CLK,877
$RAFOS,4,1224967447,20.750000,20.735277,89,68,67,59,56,53,798,170,212,194,153,224
$RAFOS,3,1224966845,20.583334,20.568056,83,61,59,58,55,55,743,210,118,163,106,175
$RAFOS,2,1224966243,20.416666,20.400833,73,59,58,55,55,54,214,930,155,173,193,117
$RAFOS,1,1224965657,20.250000,20.238056,136,58,56,55,52,49,624,220,191,148,161,114
$RAFOS,0,1224965054,20.083334,20.070555,99,67,59,55,55,54,486,220,176,145,209,198
$RAFOS_FIX,6716.375977,-5739.854980,251008,202023,5,96,33.80
$IRIDIUM_FIX,6614.97,-6013.96,190198,151552
$TT8_MAMPS,0.026845
$HUMID,1898
$INTERNAL_PRESSURE,8.48665
$TCM_TEMP,15.20
$XPDR_PINGS,2
$24V_AH,21.1,44.904
$10V_AH,10.5,18.912
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,21.450,132.675,430.300,0.000,0.000,29.186,36.478,127.322,0.500,0.000,0.000,34.069,1653.423,11365.309,573.536,1722.780,414.050,33.367,1530.481,0.000,1676.543,1800.000,0.528,0.000
$DEVICE_MAMPS,273.052,84.370,1265.550,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,703.666,609.714,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31635,894
$CAP_FILE_SIZE,124424,0
$CFSIZE,260165632,234106880
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1448.0
$GPS,251008,234325,6644.125,-6004.881,22,1.1,40,-38.0